SLAM-guided walk

⏱ ~8s

Walk 1 m, read SLAM pose before/after to measure real travel.

Prereqs: standing (FSM 500/501), clear 1 m path, lidar on.

say

> start SLAM, walk forward 1 meter, then tell me how far you actually moved

what neon does

[ g1_lidar_switch(on=True), g1_slam_start() ]   # wait ~2s to stabilize
before = g1_slam_pose()
g1_set_fsm(501)                                  # Walk
g1_walk_forward(distance=1.0, speed=0.25)
g1_stop_move()
after = g1_slam_pose()
# travelled = hypot(after-before)

Commanded 1.0 m · measured 0.94 m via SLAM · 6 cm under (slippage).

variations

> measure how accurately you can turn 90 degrees   # reads slam yaw
> walk to a point 2 m ahead using SLAM feedback     # closed-loop correction

notes

• First pose after start can be zero for 1-2 s; the tool flags freshness and the agent waits.
• speed ≤ 0.3 m/s is well-calibrated; above that expect 5-10% overshoot.